#!/usr/bin/env python

PACKAGE="realsense_camera"

from dynamic_reconfigure.parameter_generator_catkin import *

gen = ParameterGenerator()

#             Name                               Type      Level       Description                     Default    Min     Max
gen.add("enable_depth",                          bool_t,   0,          "Enable Depth",                 True)
gen.add("color_backlight_compensation",          int_t,    0,          "Backlight Compensation",       1,         0,      4)
gen.add("color_brightness",                      int_t,    0,          "Brightness",                   55,        0,      255)
gen.add("color_contrast",                        int_t,    0,          "Contrast",                     32,        16,     64)
gen.add("color_gain",                            int_t,    0,          "Gain",                         64,        64,     2540)
gen.add("color_gamma",                           int_t,    0,          "Gamma",                        220,       100,    280)
gen.add("color_hue",                             int_t,    0,          "Hue",                          0,         -22,    22)
gen.add("color_saturation",                      int_t,    0,          "Saturation",                   128,       0,      255)
gen.add("color_sharpness",                       int_t,    0,          "Sharpness",                    0,         0,      7)

gen.add("color_enable_auto_exposure",            int_t,    0,          "Enable Color Auto Exposure",   1,         0,      1)
# Must be set only if color_enable_auto_exposure is disabled
gen.add("color_exposure",                        int_t,    0,          "Color Exposure",               167,       83,     10000)

gen.add("color_enable_auto_white_balance",       int_t,    0,          "Enable Auto White Balance",    1,         0,      1)
# Must be set only if color_enable_auto_white_balance is disabled
gen.add("color_white_balance",                   int_t,    0,          "White Balance",                3200,      2500,   6500)

gen.add("f200_laser_power",                      int_t,    0,          "Laser Power",                  16,        0,      16)
gen.add("f200_accuracy",                         int_t,    0,          "Accuracy",                     2,         1,      3)
gen.add("f200_motion_range",                     int_t,    0,          "Motion Range",                 1,         0,      100)
gen.add("f200_filter_option",                    int_t,    0,          "Filter Option",                5,         0,      7)
gen.add("f200_confidence_threshold",             int_t,    0,          "Confidence Threshold",         6,         0,      15)

exit(gen.generate(PACKAGE, "realsense_camera", "f200_params"))
